CN112008233A - Laser rust removal intelligence focus control system - Google Patents
Laser rust removal intelligence focus control system Download PDFInfo
- Publication number
- CN112008233A CN112008233A CN202010876246.0A CN202010876246A CN112008233A CN 112008233 A CN112008233 A CN 112008233A CN 202010876246 A CN202010876246 A CN 202010876246A CN 112008233 A CN112008233 A CN 112008233A
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- CN
- China
- Prior art keywords
- focal length
- laser
- speed reducer
- length control
- laser head
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
- B23K26/04—Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
- B23K26/046—Automatically focusing the laser beam
- B23K26/048—Automatically focusing the laser beam by controlling the distance between laser head and workpiece
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B7/00—Cleaning by methods not provided for in a single other subclass or a single group in this subclass
- B08B7/0035—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by radiant energy, e.g. UV, laser, light beam or the like
- B08B7/0042—Cleaning by methods not provided for in a single other subclass or a single group in this subclass by radiant energy, e.g. UV, laser, light beam or the like by laser
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Laser Beam Processing (AREA)
Abstract
The invention relates to the technical field of laser rust removal, and discloses an intelligent focal length control system for laser rust removal, which comprises a base, wherein a first speed reducer is installed at the front end of the base, a focal length control box is installed at the lower end of the inner side of a clamp, a laser head is installed at the bottom end of the focal length control box, a camera is installed on one side of the focal length control box, and three displacement sensors are installed at the outer side, close to the laser head, of the upper end of the focal length control box. According to the invention, the workpiece to be derusted by the camera is shot in real time, the size and shape of the workpiece, the rust position on the surface of the workpiece and the like are obtained, the distance measurement is carried out on two sides of the position to be derusted respectively through the three displacement sensors, the distance and the angle of the laser head are adjusted through the rotary motor, the second servo motor, the second rotary motor and the first servo motor, the position of the laser head can be accurately controlled, the optimal focal length control is realized, the purpose of efficient derusting is achieved, and the damage to the workpiece is reduced as much as possible.
Description
Technical Field
The invention relates to the technical field of laser rust removal, in particular to an intelligent focal length control system for laser rust removal.
Background
The traditional derusting industry has various derusting modes, most of which utilize chemical agents and mechanical methods to derust, the laser derusting has the characteristics of no grinding, no contact, no thermal effect and the like, meanwhile, the laser derusting can solve the problem which cannot be solved by the traditional derusting mode, and because the laser is used for cleaning workpieces in a non-contact way, the precision of the precision workpiece or the precision part of the precision workpiece is very safe to clean, and the precision of the precision workpiece can be ensured.
For large steel members such as steel beams and the like, the integral size is large, the weight is large, the welding penetration is large, the deformation is large, the error requirement of the laser rust removal process focal length is +/-1 mm, but the error caused by factors such as the steel beam machining size error and the welding deformation reaches 3-5 mm, the laser focal length requirement is greatly exceeded, and the rust removal effect is poor.
Disclosure of Invention
The invention aims to provide a laser rust removal intelligent focal length control system to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
an intelligent focal length control system for laser rust removal comprises a base, wherein a first speed reducer is installed at the front end of the base, a first servo motor is installed at the front end of the first speed reducer, and the lower end of the first speed reducer is fixedly connected with a first rotating joint, one side of the first rotating joint is rotatably connected with a rear arm, one side of the upper end of the rear arm is rotatably connected with a second rotating joint, the front end of the second rotating joint is fixedly provided with a second speed reducer, a second servo motor is arranged at one side of the rear end of the second speed reducer, which is close to the second rotating joint, a front arm is arranged at the front end of the second speed reducer, a clamp is fixedly connected at the front end of the front arm, a focal length control box is arranged at the lower end of the inner side of the clamp, a laser head is arranged at the bottom end of the focal length control box, and a camera is installed on one side of the focal length control box, and three displacement sensors are installed on the outer side, close to the laser head, of the upper end of the focal length control box.
As a further scheme of the invention: the output shaft of the first speed reducer is fixedly connected with the base, and the output shaft of the second speed reducer is fixedly connected with the front arm.
As a still further scheme of the invention: the three displacement sensors are distributed on two sides of the laser head in an L shape.
As a still further scheme of the invention: a first rotating joint motor is installed at one end of the joint of the rear arm and the first rotating joint, and an output shaft of the first rotating joint motor is fixedly connected with the rear arm.
As a still further scheme of the invention: the second rotates festival motor is installed to the one end of the handing-over department of trailing arm and second rotation festival, the output shaft and the trailing arm fixed connection of second rotation festival motor.
As a still further scheme of the invention: ASIC chip is installed to the inboard of focus control box, camera, displacement sensor and laser head all with ASIC chip electric connection.
Compared with the prior art, the invention has the beneficial effects that:
the workpiece to be derusted is shot in real time through the camera, the size and the shape of the workpiece and the rust position of the surface of the workpiece are obtained, the two sides of the position to be derusted are respectively subjected to real-time ranging through the three displacement sensors, the distance and the angle of the laser head are adjusted through the rotating motor, the second servo motor, the second rotating motor and the first servo motor, the position of the laser head can be accurately controlled, optimal focal length control is achieved, the purpose of efficient derusting is achieved, and damage to the workpiece is reduced as much as possible.
Drawings
FIG. 1 is a schematic structural diagram of an intelligent focal length control system for laser rust removal;
FIG. 2 is a schematic diagram of a rear view structure of a laser rust removal intelligent focal length control system;
fig. 3 is a working schematic diagram of a laser rust removal intelligent focal length control system.
In the figure: 1. a base; 2. a first speed reducer; 3. a rear arm; 4. a first rotating joint; 5. a first rotary electric machine; 6. a second rotating joint; 7. a second servo motor; 8. a second rotary joint motor; 9. a second speed reducer; 10. a first servo motor; 11. a forearm; 12. clamping; 13. a camera; 14. a displacement sensor; 15. a laser head; 16. a focus control box.
Detailed Description
Referring to fig. 1 to 3, in the embodiment of the present invention, an intelligent focal length control system for laser rust removal includes a base 1, a first speed reducer 2 is installed at a front end of the base 1, a first servo motor 10 is installed at a front end of the first speed reducer 2, a first rotating joint 4 is fixedly connected to a lower end of the first speed reducer 2, a rear arm 3 is rotatably connected to one side of the first rotating joint 4, a second rotating joint 6 is rotatably connected to one side of an upper end of the rear arm 3, a second speed reducer 9 is fixedly installed at a front end of the second rotating joint 6, a second servo motor 7 is installed at a side, close to the second rotating joint 6, of a rear end of the second speed reducer 9, a front arm 11 is installed at a front end of the second speed reducer 9, a clamp 12 is fixedly connected to a front end of the front arm 11, a focal length control box 16 is installed at a lower end of an inner side of the clamp 12, a laser head 15 is installed at a, three displacement sensors 14 are mounted on the upper end of the focal length control box 16 near the outer side of the laser head 15.
In fig. 1 and 2: the output shaft of first speed reducer 2 and base 1 fixed connection, the output shaft and the forearm 11 fixed connection of second speed reducer 9 drive second speed reducer 9 through the output shaft of first servo motor 10 and move, and the output shaft and the base 1 fixed connection of second speed reducer 9 to make first speed reducer 2, first turning festival 4, postbrachium 3 drive forearm 11 and rotate together, realize laser head 15 and the regulation of treating rust cleaning work piece angle.
In fig. 3: the three displacement sensors 14 are distributed on two sides of the laser head 15 in an L shape, so that the distance measuring lasers emitted by the two displacement sensors 14 are positioned on one side of the derusting laser emitted by the laser head 15, and the distance measuring laser emitted by the other displacement sensor 14 is positioned on the other side of the derusting laser emitted by the laser head 15, and thus distance measurement can be carried out on two sides of the derusting position of the workpiece to be derusted in real time.
In fig. 1 and 2: first rotation festival motor 5 is installed to the one end of the handing-over department of trailing arm 3 and first rotation festival 4, the output shaft and the trailing arm 3 fixed connection of first rotation festival motor 5, because first rotation festival motor 5 is installed on first rotation festival 4, drive trailing arm 3 through first rotation festival motor 5 and rotate, drive forearm 11 through trailing arm 3 and rotate together, forearm 11 drives focal length control box 16 and rotates together, realize laser head 15 and the regulation of waiting to derust work piece distance.
In fig. 1 and 2: the second rotates festival motor 8 with the second and rotates the one end of handing-over department of festival 6, and the output shaft and the back arm 3 fixed connection of festival motor 8 are rotated to the second, because the second rotates festival motor 8 and installs on second rotation festival 6, rotates festival motor 8 through the second and drives back arm 3 and rotate to can adjust the relative angle of back arm 3 and forearm 11, realize laser head 15 and the regulation of waiting to remove rust work piece distance.
In fig. 1 and 2: the ASIC chip is installed to the inboard of focus control box 16, camera 13, displacement sensor 14 and laser head 15 all with ASIC chip electric connection, the ASIC chip adopts artificial intelligence AI algorithm, handle image and digital information that camera 13 and displacement sensor 14 received through the ASIC chip to adjust the distance of laser head 15 and the work piece that treats the rust cleaning in real time, realize best focus control, reached the purpose of high-efficient rust cleaning promptly, the damage of work piece has been reduced as far as possible again, the precision of rust cleaning can reach 80 ~ 300 +/-0.2 mm.
The working principle of the invention is as follows: firstly, a workpiece to be derusted is placed below a laser head, the workpiece is shot in real time through a camera 13 and a high-definition image is obtained, the image is processed through an ASIC chip to obtain the size and the shape of the workpiece, the rust position on the surface of the workpiece and the like, distance measurement is carried out on one side of derusting laser emitted by the laser head 15 through distance measurement laser emitted by two displacement sensors 14, distance measurement is carried out on the other side of the derusting laser emitted by the laser head 15 through distance measurement laser emitted by the other displacement sensor 14, so that distance measurement can be carried out on two sides of the derusting position of the workpiece to be derusted in real time, the vertical distance between the laser head 15 and the workpiece is accurately measured, the vertical distance is transmitted to the ASIC chip in the form of an electric signal, the ASIC chip is operated by the electric signal and transmits the electric signal to a first rotary motor, The second rotary motor 8 and the first servo motor 10 send instructions, the second speed reducer 9 is driven to operate by the output shaft of the first servo motor 10, the output shaft of the second speed reducer 9 is fixedly connected with the base 1, so that the first speed reducer 2, the first rotary joint 4, the rear arm 3 and the front arm 11 rotate together with the focal length control box 16, the angle between the laser head 15 and a workpiece is adjusted, the rear arm 3 is driven to rotate by the first rotary motor 5, the front arm 11 is driven to rotate together by the rear arm 3, the focal length control box 16 is driven by the front arm 11 to rotate together, the distance between the laser head 15 and the workpiece to be derusted is adjusted, the rear arm 3 is driven to rotate by the second rotary joint motor 8, and the relative angle between the rear arm 3 and the front arm 11 can be adjusted because the second rotary joint motor 8 is mounted on the second rotary joint 6, the distance between the laser head 15 and a workpiece to be derusted is adjusted again, the output shaft of the second servo motor 7 drives the second speed reducer 9 to operate, the output shaft of the second speed reducer 9 drives the front arm 11 to rotate, the front arm 11 drives the clamp 12 and the focal length control box 16 to rotate together, the angle between the laser head 15 and the workpiece is adjusted again, the distance between the laser head 15 and the workpiece to be derusted can be adjusted in real time, optimal focal length control is achieved, the laser head 15 emits laser to derust the surface of the workpiece, the purpose of efficient derusting is achieved, and damage to the workpiece is reduced as much as possible.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention are equivalent to or changed within the technical scope of the present invention.
Claims (6)
1. The utility model provides a laser rust cleaning intelligence focus control system, includes base (1), its characterized in that, first speed reducer (2) are installed to the front end of base (1), first servo motor (10) are installed to the front end of first speed reducer (2), and the first rotation festival (4) of the lower extreme fixedly connected with of first speed reducer (2), one side of first rotation festival (4) is rotated and is connected with back arm (3), one side of the upper end of back arm (3) is rotated and is connected with second rotation festival (6), the front end fixedly mounted of second rotation festival (6) has second speed reducer (9), one side that the rear end of second speed reducer (9) is close to second rotation festival (6) is installed second servo motor (7), and forearm (11) are installed to the front end of second speed reducer (9), the front end fixedly connected with of forearm (11) clamp (12), focus control box (16) are installed to the lower extreme of the inboard of clamp (12), laser head (15) are installed to the bottom of focus control box (16), and one side of focus control box (16) installs camera (13), three displacement sensor (14) are installed in the outside that the upper end of focus control box (16) is close to laser head (15).
2. The laser rust removal intelligent focal length control system of claim 1, characterized in that the output shaft of the first speed reducer (2) is fixedly connected with the base (1), and the output shaft of the second speed reducer (9) is fixedly connected with the forearm (11).
3. The intelligent focal length control system for laser derusting according to claim 1, wherein three displacement sensors (14) are distributed on two sides of the laser head (15) in an L shape.
4. The laser rust removal intelligent focal length control system as claimed in claim 1, wherein a first rotary joint motor (5) is mounted at one end of the joint of the rear arm (3) and the first rotary joint (4), and an output shaft of the first rotary joint motor (5) is fixedly connected with the rear arm (3).
5. The laser rust removal intelligent focal length control system as claimed in claim 1, wherein a second rotating joint motor (8) is installed at one end of the joint of the rear arm (3) and the second rotating joint (6), and an output shaft of the second rotating joint motor (8) is fixedly connected with the rear arm (3).
6. The laser rust removal intelligent focal length control system as claimed in claim 1, wherein an ASIC chip is mounted on the inner side of the focal length control box (16), and the camera (13), the displacement sensor (14) and the laser head (15) are electrically connected with the ASIC chip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010876246.0A CN112008233A (en) | 2020-08-25 | 2020-08-25 | Laser rust removal intelligence focus control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010876246.0A CN112008233A (en) | 2020-08-25 | 2020-08-25 | Laser rust removal intelligence focus control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112008233A true CN112008233A (en) | 2020-12-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010876246.0A Pending CN112008233A (en) | 2020-08-25 | 2020-08-25 | Laser rust removal intelligence focus control system |
Country Status (1)
| Country | Link |
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| CN (1) | CN112008233A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112872596A (en) * | 2021-01-12 | 2021-06-01 | 上海建冶科技股份有限公司 | Laser processing robot for metal surface |
| CN115007569A (en) * | 2022-05-31 | 2022-09-06 | 中建四局安装工程有限公司 | Pipeline laser rust cleaning device |
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| CN206445358U (en) * | 2017-02-16 | 2017-08-29 | 上海嘉强自动化技术有限公司 | A kind of five axle laser robots |
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| CN110227690A (en) * | 2019-07-15 | 2019-09-13 | 山东亚历山大智能科技有限公司 | A kind of vehicle-mounted automatic laser cleaning equipment |
| CN111054702A (en) * | 2019-12-25 | 2020-04-24 | 北京航天控制仪器研究所 | Laser cleaning equipment for surface treatment of annular component |
| CN111215394A (en) * | 2018-11-27 | 2020-06-02 | 秦皇岛烟草机械有限责任公司 | Novel laser type cleaning equipment |
| CN210995641U (en) * | 2019-05-15 | 2020-07-14 | 厦门理工学院 | Laser cleaning machine |
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2020
- 2020-08-25 CN CN202010876246.0A patent/CN112008233A/en active Pending
Patent Citations (11)
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| DE19516589A1 (en) * | 1995-05-05 | 1996-11-14 | Jet Laser Systeme Ges Fuer Obe | Cleaning surfaces of concrete sheathing material in concrete block mfr. |
| RO125875B1 (en) * | 2009-02-18 | 2012-10-30 | Institutul Naţional De Cercetare-Dezvoltare Pentru Optoelectronică - Inoe 2000 | Laser microscope for cleaning 3d art objects |
| CN205705768U (en) * | 2016-05-05 | 2016-11-23 | 上海眸特实业有限公司 | Based on CCD detection have focal length self-tuning laser marking instrument |
| CN206445358U (en) * | 2017-02-16 | 2017-08-29 | 上海嘉强自动化技术有限公司 | A kind of five axle laser robots |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112872596A (en) * | 2021-01-12 | 2021-06-01 | 上海建冶科技股份有限公司 | Laser processing robot for metal surface |
| CN115007569A (en) * | 2022-05-31 | 2022-09-06 | 中建四局安装工程有限公司 | Pipeline laser rust cleaning device |
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Application publication date: 20201201 |